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ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, ReMAR

作者： Xinghan Zhuang Jinyu Ma Zhijun Zhao Yaobing Wang Peijin Zi Jiawen Chen Yaobin Tian Kun Xu XiLun Ding The School of Mechanical Engineering and Automation Beihang University Beijing Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing China

ISBN: (数字)9798350395969

ISBN: (纸本)9798350395976

The 4-limbed integrated leg-arm robot, which combines the manipulation capabilities of dual-arm manipulators and the stable mobility of 4-limbed climbing robots, has gained attention in various application fields. However, existing robots typically rely on increasing actuators or independent-driven reconfigurable mechanisms to meet diverse workspace requirements, resulting in increased payload and energy consumption. To tackle this challenge, this paper proposes a novel reconfigurable robot with an underactuated chassis mechanism. The chassis mechanism is established through configuration synthesis and analysis, while its underactuated behavior is revealed through degree of freedom (DOF) analysis and kinematic modeling. Finally, the feasibility of underactuation is verified by simulation.

关键词： Analytical models Energy consumption Mechanism design Kinematics Manipulators Climbing robots Task analysis

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Research on obstacle detection and path planning based on visual navigation for mobile robot

Research on obstacle detection and path planning based on vi...

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作者： Yixiao Zheng Bixi Yan Chao Ma Xinyu Wang Haoyang Xue School of Instrument Science and Optoelectronic Engineering Beijing Information Science and Technology University Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering

Both obstacle and path planning are of significance for autonomous visual navigation of a mobile robot which is able to realize free movement and obstacle *** this paper,a scheme of obstacle detection which is based on binocular vision to identify obstacles is constructed and it is combined with improved A* algorithm for obstacle avoidance motion for mobile robot ***,a binocular vision system to detect the robot's perception of the environment is used and the visual information is *** a Gaussian filter is used to reduce the noise in the image,and the grayscale image is obtained through the binocular vision *** gray scale map is matched with SAD(Sum of Absolute Differences) in order to obtain the disparity image with ***,the location information of the obstacle is extracted through the environmental depth information contained in the disparity image,and the improved A* algorithm is used as the path planning algorithm in this paper,which can modify the path of the planning ***,the detection experiment of the robot visual obstacle avoidance system was established and the optimal path was *** examples show that,the obstacle avoidance system can complete the task of obstacle detection and give a better path for the mobile robot.

关键词： image filter Research on obstacle detection and path planning based on visual navigation for mobile robot

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Virtual Constraint Based Adaptive Control for Biped Robot with Speed Regulation

Virtual Constraint Based Adaptive Control for Biped Robot wi...

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IEEE International Conference on Mechatronics and Automation

作者： Jianfei Li Yaobing Wang Dawei Zhang Li Liu Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing China Center of Excellence for Intelligent Mechanical Systems College of Engineering Peking University Beijing China

ISBN: (纸本)9781509023974

The Virtual Holonomic Constraint (VHC) approach, with its flexibility and stability, is drawing more attentions in generating gait for biped robots. This paper generalizes the VHC approach by adding other variables such as walking speed to the constraint functions. The robot is able to walk up or down along slopes with commanded speeds, and more importantly, allows it to walk continuously and steadily in varying surfaces. In addition, the control approach named Partial Decoupling Control is used to implement the VHC, which at the first time equips the VHC approach with the parameter adaptation laws which significantly improves the stability and performance of the systems. Full dynamics simulations with a five-bar planar robot are used to illustrate the effectiveness of the proposed approach.

关键词： adaptive control virtual constraints VHC biped robot speed regulation

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Screening piezoelectricity in determination of flexoelectric coefficient at nanoscale

arXiv

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arXiv 2020年

作者： Lun, Yingzhuo Zhou, Hao Yao, Di Wang, Xueyun Hong, Jiawang School of Aerospace Engineering Beijing Institute of Technology Beijing100081 China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering China Academy of Space Technology Beijing100094 China

Piezoelectricity usually accompanies with flexoelectricity in polar materials which is the linear response of polarization to a strain gradient. Therefore, it is hard to eliminate piezoelectric effect in determination of pure flexoelectric response. In this work, we propose an analytical method to characterize the flexoelectric coefficient quantitatively at nanoscale in piezoelectric materials by screening piezoelectricity. Our results show that the flexoelectricity reduces the nanopillar stiffness while the piezoelectricity enhances it. With careful design of the shape of the nanopillars and measuring their stiffness difference, the flexoelectric coefficient can be obtained with the piezoelectric contribution eliminated completely. This approach avoids the measurement of electrical properties with dynamic load, which helps to reduce the challenge of flexoelectric measurement at nanoscale. Our work will be beneficial to quantitative characterization of flexoelectric properties and design of flexoelectric devices at nanoscale. Copyright © 2020, The Authors. All rights reserved.

关键词： Piezoelectricity

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2-Entity RANSAC for robust visual localization in changing environment

2-Entity RANSAC for robust visual localization in changing e...

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2019 IEEE/RSJ International Conference on intelligent Robots and systems (IROS)

作者： Yanmei Jiao Yue Wang Bo Fu Xiaqing Ding Qimeng Tan Lei Chen Rong Xiong State Key Laboratory of Industrial Control and Technology Zhejiang University Hangzhou P.R. China Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing P.R. China

Visual localization has attracted considerable attention due to its low-cost and stable sensor, which is desired in many applications, such as autonomous driving, inspection robots and unmanned aerial vehicles. However, current visual localization methods still struggle with environmental changes across weathers and seasons, as there is significant appearance variation between the map and the query image. The crucial challenge in this situation is that the percentage of outliers, i.e. incorrect feature matches, is high. In this paper, we derive minimal closed form solutions for 3D-2D localization with the aid of inertial measurements, using only 2 point matches or 1 point match and 1 line match. These solutions are further utilized in the proposed 2-entity RANSAC, which is more robust to outliers as both line and point features can be used simultaneously and the number of matches required for pose calculation is reduced. Furthermore, we introduce three feature sampling strategies with different advantages, enabling an automatic selection mechanism. With the mechanism, our 2-entity RANSAC can be adaptive to the environments with different distribution of feature types in different segments. Finally, we evaluate the method on both synthetic and real-world datasets, validating its performance and effectiveness in inter-session scenarios.

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Combine Neural Radiance Fields in Different Reference Coordinates

Combine Neural Radiance Fields in Different Reference Coordi...

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Chinese Automation Congress (CAC)

作者： Weili Zhang Zhongheng Li Yu Guo Fei Wang Institute of Artificial Intelligence and Robotics Xi'an Jiaotong University Xi'an China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing China

Neural Radiance Fields (NeRF) leverage deep learning networks to restore high-quality implicit representations of 3D scenes from 2D images, surpassing traditional texture mapping in rendering quality. Typically, reconstructed images by NeRF exist in a reference coordinate system, necessitating consideration of each surface's information in a single shot. Overlapping parts in adjacent images are addressed by obtaining the camera pose through sparse COLMAP reconstruction. However, occluded regions, caused by contact with support surfaces, pose challenges for complete reconstruction. To address this, we propose a scene fusion algorithm based on NeRF, facilitating the amalgamation of neural radiance fields under different reference coordinate systems. This reduces data requirements and shooting conditions, enhancing the implicit 3D reconstruction of real objects. By estimating the translation and rotation relationship between image capture angles and the NeRF model, we fuse neural radiance fields in distinct reference coordinate systems, completing object surface information. Evaluation is conducted on both NeRF synthetic dataset and real objects.

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Design and Analysis of a Flying-crawling Spherical Robot for Multi-mode Movement

Design and Analysis of a Flying-crawling Spherical Robot for...

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IEEE International Conference on robotics and Biomimetics

作者： Pengfei Lu Kun Xu Xilun Ding Shuiqing Jiang Zixin Tang Yaobing Wang Robotics Institute of School of Mechanical Engineering and Automation Beihang University Beijing China Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing China

A novel spherical robot named flying-crawling spherical robot is designed in this paper. It can fly or roll on ground with its single rotor and eight tail fins. When its limbs stretch out it can crawl on the supporting surface. Besides, with its limbs the robot can realize carrying objects, landing on uneven ground and walking on the supporting surface. Dynamic model of the robot in flight mode is established and the motion characteristics are analyzed. A PID control system is designed to enable the robot to achieve stable flight. Trot gait planning of the robot is given and a PID controller is designed for tail fins assistant in crawling mode. Corresponding simulations are carried out and the simulation results verify the proposed methods.

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Globally optimal consensus maximization for robust visual inertial localization in point and line map

arXiv

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arXiv 2020年

作者： Jiao, Yanmei Wang, Yue Fu, Bo Tan, Qimeng Chen, Lei Wang, Minhang Huang, Shoudong Xiong, Rong State Key Laboratory of Industrial Control and Technology Zhejiang University Hangzhou China Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing China Application Lab Huawei Incorporated Company China University of Technology Sydney Australia

Map based visual inertial localization is a crucial step to reduce the drift in state estimation of mobile robots. The underlying problem for localization is to estimate the pose from a set of 3D-2D feature correspondences, of which the main challenge is the presence of outliers, especially in changing environment. In this paper, we propose a robust solution based on efficient global optimization of the consensus maximization problem, which is insensitive to high percentage of outliers. We first introduce translation invariant measurements (TIMs) for both points and lines to decouple the consensus maximization problem into rotation and translation subproblems, allowing for a two-stage solver with reduced search space. Then we show that (i) the rotation can be estimated by minimizing TIMs using only 1-dimensional branch-and-bound (BnB), (ii) the translation can be estimated by running 1-dimensional search for each of the three axes with prioritized progressive voting. Compared with the popular randomized solver, our solver achieves deterministic global convergence without requiring an initial value. Furthermore, ours is exponentially faster compared with existing BnB based methods. Finally, our experiments on both simulation and real-world datasets demonstrate that the proposed method gives accurate pose estimation even in the presence of 90% outliers (only 2 inliers). Copyright © 2020, The Authors. All rights reserved.

关键词： Statistics

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A Long-focus Camera and Telemetry LiDAR Calibration for Rapid Transit Equipment

A Long-focus Camera and Telemetry LiDAR Calibration for Rapi...

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IEEE International Conference on robotics and Biomimetics

作者： Bo Fu Yanmei Jiao Jian Bai Jinhui Yuan Xin You Qimeng Tan Yue Wang Rong Xiong State Key Laboratory of Industrial Control and Technology Zhejiang University Hangzhou P.R. China UniTTEC Co. Ltd. Beijing Key Laboratory of Intelligent Space Robotic System Technology and Applications Beijing Institute of Spacecraft System Engineering Beijing P.R. China

ISBN: (纸本)9781665405362

The fused use of the long-focus camera and telemetry LiDAR is necessary for advanced long-distance detection requirements in autonomous driving vehicles and unmanned subways, and the extrinsic parameter calibration is a precondition for multi-sensor fusion use. However, the inaccuracy of long-focus camera detection and low accuracy of data association between LiDAR-camera make the calibration a challenging problem. In this paper, we propose a novel calibration method that treat the detection poses as variables in the optimization framework, which significantly reduces the impact of detection errors on calibration accuracy. Furthermore, we construct 3 error terms to obtain better estimation of the variables, and the designed error terms only require plane-to-plane data association, avoiding incorrect data association that leads to failure in extrinsic parameter estimation. Then we made a full comparison with other methods through real-world experiments, which showed that our method achieves the best calibration result.

关键词： Laser radar Parameter estimation Estimation Cameras Laser modes Calibration Telemetry

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Compact isolators and waveguides for flexural waves in plates

Compact isolators and waveguides for flexural waves in plate...

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第八届国际振动工程会议

作者： Yunhao Zhang Guangyuan Su Hao Zhou Bing Li Yongquan Liu State Key Laboratory for Strength and Vibration of Mechanical Structures School of Aerospace EngineeringXi'an Jiaotong University Beijing Key Laboratory of Intelligent Space Robotic Systems Technology and Applications Beijing Institute of Spacecraft System EngineeringChina Academy of Space Technology School of Aeronautics Northwestern Polytechnical University

Manipulation of flexural waves in plates has attracted extensive attention for vibration isolation and structural health monitoring. However, existing methods are difficult to be applied in practical engineering due to their bulky size, complex structure, and damage to the overall carrying capacity. In this work, we introduce a different way to steer flexural waves in plates to realize arbitrary isolators and waveguides without fabrication limitations and destruction of *** to appropriate impedance mismatch, periodic and sparse array of subwavelength and unitary units are preliminarily devised to isolate flexural waves, in a way of omnidirectional reflection. We then utilize this feature to realize various ultrathin isolators and waveguides. As verification, a circular isolator and a Z-shaped waveguide are designed and tested, respectively. They numerically and experimentally show excellent isolating and waveguiding performance. It opens up a range of opportunities to mitigating and guiding the energy in plate-like bearing structures.

关键词： Compact isolators and waveguides for flexural waves in plates

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